test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -72,7 +72,10 @@ void AdjustPPK::ReadBag(const string &bagPath)
     for(; viewIterator != view->end(); viewIterator++)
     {
         const rosbag::MessageInstance &m = *viewIterator;
-//        LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
+        LOG_EVERY_N(INFO, 100) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
+        if(m.getTime().toSec() < 1683762409){
+            continue;
+        }
         if(!m.isType<pandar_msgs::PandarScan>()){
             continue;
         }
@@ -346,7 +349,7 @@ bool AdjustPPK::Undisort(
     cloudInfo.filterPoseInfo.filterPose = framePose;
     Quaterniond q(increasePose.linear());
     Vector3d rpy= RotationQuaternionToEulerVector(q);
-    LOG_EVERY_N(INFO, 10) << setprecision(15)
+    LOG_EVERY_N(INFO, 1) << setprecision(15)
               << " periodPose.front(): " << periodPose.front().timestamp
               << " periodPose.back(): " << periodPose.back().timestamp
               << " increasePose: " << increasePose.translation().transpose()